US20230213045A1 - Controlling boom of work machine - Google Patents

Controlling boom of work machine Download PDF

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Publication number
US20230213045A1
US20230213045A1 US18/007,559 US202118007559A US2023213045A1 US 20230213045 A1 US20230213045 A1 US 20230213045A1 US 202118007559 A US202118007559 A US 202118007559A US 2023213045 A1 US2023213045 A1 US 2023213045A1
Authority
US
United States
Prior art keywords
actuator
control
boom assembly
tip
speed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
US18/007,559
Other languages
English (en)
Inventor
Tatu KAILAVAARA
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ponsse Oyj
Original Assignee
Ponsse Oyj
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ponsse Oyj filed Critical Ponsse Oyj
Assigned to PONSSE OYJ reassignment PONSSE OYJ ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: KAILAVAARA, Tatu
Publication of US20230213045A1 publication Critical patent/US20230213045A1/en
Pending legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G23/00—Forestry
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G23/00—Forestry
    • A01G23/003—Collecting felled trees
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • F15B21/087—Control strategy, e.g. with block diagram
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G23/00—Forestry
    • A01G23/02—Transplanting, uprooting, felling or delimbing trees
    • A01G23/08—Felling trees
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B66C23/90—Devices for indicating or limiting lifting moment
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
    • E02F3/301—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom with more than two arms (boom included), e.g. two-part boom with additional dipper-arm
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2004—Control mechanisms, e.g. control levers
    • E02F9/2012—Setting the functions of the control levers, e.g. changing assigned functions among operations levers, setting functions dependent on the operator or seat orientation
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G23/00—Forestry
    • A01G23/02—Transplanting, uprooting, felling or delimbing trees
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration

Definitions

  • the boom assembly of a work machine is controlled by tip control.
  • tip control a control command is given to a tip of a boom assembly, converted into control commands for individual actuators of the boom assembly.
  • a variable related to a load and its position at the tip of the boom assembly is defined, and the variable in question related to the load and its position at the tip of the boom assembly is taken into account in the control command to an actuator.
  • the boom assembly 14 of FIG. 2 corresponds to the boom assembly 14 of FIG. 1 .
  • the boom assembly 14 of FIG. 2 differs from the structure of FIG. 1 .
  • the upper ring of the swivel ring is provided with an inner toothing and it is rotated by a motor which rotates a gearwheel against the inner toothing.
  • Block 30 describes the forming and storing of a table which shows the interrelations between the cylinder speed request, pressure at the actuator, and the control signal value of the control signal fed to the actuator, that is, to the precontrol valve (the proportional valves V 1 to V 4 in FIG. 3 ).
  • a table which shows the interrelations between the cylinder speed request, pressure at the actuator, and the control signal value of the control signal fed to the actuator, that is, to the precontrol valve (the proportional valves V 1 to V 4 in FIG. 3 ).
  • the control signal is control current.
  • the realized cylinder speed is measured.
  • the realized cylinder speed is compared to the cylinder speed request, and the difference between the measured realized speed and speed request exceeds the allowed limit value, the table in question is calibrated at the operating point in question, so the option YES, and table updating in block 37 . If the difference does not exceed the limit value, the option NO is followed, and the table is not in this regard updated—block 38 .

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Forests & Forestry (AREA)
  • Ecology (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Environmental Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Paleontology (AREA)
  • Automation & Control Theory (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Operation Control Of Excavators (AREA)
  • Control Of Position Or Direction (AREA)
  • Catching Or Destruction (AREA)
  • Fluid-Pressure Circuits (AREA)
US18/007,559 2020-06-03 2021-06-01 Controlling boom of work machine Pending US20230213045A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FI20205576A FI20205576A1 (fi) 2020-06-03 2020-06-03 Työkoneen puomiston ohjaaminen
FI20205576 2020-06-03
PCT/FI2021/050401 WO2021245335A1 (en) 2020-06-03 2021-06-01 Controlling boom of work machine

Publications (1)

Publication Number Publication Date
US20230213045A1 true US20230213045A1 (en) 2023-07-06

Family

ID=78831496

Family Applications (1)

Application Number Title Priority Date Filing Date
US18/007,559 Pending US20230213045A1 (en) 2020-06-03 2021-06-01 Controlling boom of work machine

Country Status (7)

Country Link
US (1) US20230213045A1 (fi)
EP (1) EP4161249A4 (fi)
CN (1) CN115697042A (fi)
BR (1) BR112022023847A2 (fi)
CA (1) CA3183900A1 (fi)
FI (1) FI20205576A1 (fi)
WO (1) WO2021245335A1 (fi)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE545967C2 (sv) * 2021-11-09 2024-03-26 Komatsu Forest Ab Förfarande och system för att styra en parallellkran på en arbetsmaskin

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4306127C2 (de) * 1993-02-27 2002-08-08 Putzmeister Ag Großmanipulator, insbesondere für Autobetonpumpen
FI125724B (fi) * 2012-03-23 2016-01-29 John Deere Forestry Oy Menetelmä työkoneen puomiston ohjaamiseksi puomiston pään etäisyyden mukaan
DE102014105618A1 (de) * 2014-04-22 2015-10-22 Terex Cranes Germany Gmbh Verfahren und Vorrichtung zum Betreiben eines Mobilkrans sowie Mobilkran
DE102016106406A1 (de) * 2016-04-07 2017-10-12 Schwing Gmbh Kartesische Steuerung einer Mastspitze eines Großmanipulators

Also Published As

Publication number Publication date
WO2021245335A1 (en) 2021-12-09
EP4161249A4 (en) 2024-06-19
FI20205576A1 (fi) 2021-12-04
EP4161249A1 (en) 2023-04-12
CN115697042A (zh) 2023-02-03
BR112022023847A2 (pt) 2022-12-20
CA3183900A1 (en) 2021-12-09

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Owner name: PONSSE OYJ, FINLAND

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:KAILAVAARA, TATU;REEL/FRAME:061943/0247

Effective date: 20221115

STPP Information on status: patent application and granting procedure in general

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